Transcription of NONLINEAR PATH CONTROL FOR A DIFFERENTIAL …
{{id}} {{{paragraph}}}
Example: air traffic controller
NONLINEAR PATH CONTROL FOR A DIFFERENTIAL …
RECENT, Vol. 11, no. 1(28), March, 2010 41 NONLINEAR PATH CONTROL FOR A DIFFERENTIAL drive mobile robot Plamen PETROV, Lubomir DIMITROV Technical University of Sofia, Bulgaria Abstract. A NONLINEAR feedback path controller for a DIFFERENTIAL drive mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The CONTROL law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability theory. Simulation results are presented to illustrate the effectiveness of the proposed controller. Keywords: DIFFERENTIAL drive mobile robot , path following, NONLINEAR CONTROL , integrator backstepping 1.
RECENT , Vol. 11, no. 1(28), March, 2010 41 NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE MOBILE ROBOT Plamen PETROV, Lubomir DIMITROV Technical University of Sofia, Bulgaria
Loading..
Tags:
Information
Domain:
Source:
Link to this page:
Please notify us if you found a problem with this document:
Related search queries
Design Of Fuzzy Controllers, Control, Nonlinear, Software for Large-Scale Nonlinear Programming, International Journal of Contro l, GAMS Introduction, Linear, AD9914, Parameter, Rockwell Automation Model Predictive Control, Natural Image Statistics, GSPS Direct Digital Synthesizer with 12, Analog Devices